| HALUI(1) | HAL User Interface | HALUI(1) |
NAME¶
halui - observe HAL pins and command LinuxCNC through NML
SYNOPSIS¶
halui [-ini <path-to-INI>]
DESCRIPTION¶
halui is used to build a User Interface using hardware knobs and switches. It exports a big number of pins, and acts accordingly when these change.
OPTIONS¶
- -ini filename
- use the filename as the configuration file. Note: halui must find the nml file specified in the INI, usually that file is in the same folder as the INI, so it makes sense to run halui from that folder.
USAGE¶
When run, halui will export a large number of pins. A user can connect those to his physical knobs & switches & leds, and when a change is noticed halui triggers an appropriate event.
halui expects the signals to be debounced, so if needed (bad knob contact) connect the physical button to a HAL debounce filter first.
PINS¶
Abort¶
- halui.abort bit in
- pin for clearing most errors
Tool¶
- halui.tool.length-offset.a float out
- current applied tool length offset for the A axis
- halui.tool.length-offset.b float out
- current applied tool length offset for the B axis
- halui.tool.length-offset.c float out
- current applied tool length offset for the C axis
- halui.tool.length-offset.u float out
- current applied tool length offset for the U axis
- halui.tool.length-offset.v float out
- current applied tool length offset for the V axis
- halui.tool.length-offset.w float out
- current applied tool length offset for the W axis
- halui.tool.length-offset.x float out
- current applied tool length offset for the X axis
- halui.tool.length-offset.y float out
- current applied tool length offset for the Y axis
- halui.tool.length-offset.z float out
- current applied tool length offset for the Z axis
- halui.tool.diameter float out
- Current tool diameter, or 0 if no tool is loaded.
- halui.tool.number u32 out
- current selected tool
Spindle¶
- halui.spindle.N.brake-is-on bit out
- status pin that tells us if brake is on
- halui.spindle.N.brake-off bit in
- pin for deactivating the spindle brake
- halui.spindle.N.brake-on bit in
- pin for activating the spindle brake
- halui.spindle.N.decrease bit in
- a rising edge on this pin decreases the current spindle speed by 100
- halui.spindle.N.forward bit in
- a rising edge on this pin makes the spindle go forward
- halui.spindle.N.increase bit in
- a rising edge on this pin increases the current spindle speed by 100
- halui.spindle.N.is-on bit out
- status pin telling if the spindle is on
- halui.spindle.N.reverse bit in
- a rising edge on this pin makes the spindle go reverse
- halui.spindle.N.runs-backward bit out
- status pin telling if the spindle is running backward
- halui.spindle.N.runs-forward bit out
- status pin telling if the spindle is running forward
- halui.spindle.N.start bit in
- a rising edge on this pin starts the spindle
- halui.spindle.N.stop bit in
- a rising edge on this pin stops the spindle
Spindle Override¶
- (SO = spindle override. FO = feed override)
- halui.spindle.N.override.count-enable bit in (default: TRUE)
- When TRUE, modify spindle override when counts changes.
- halui.spindle.N.override.counts s32 in
- counts X scale = spindle override percentage
- halui.spindle.N.override.decrease bit in
- pin for decreasing the SO (-=scale)
- halui.spindle.N.override.direct-value bit in
- pin to enable direct spindle override value input
- halui.spindle.N.override.increase bit in
- pin for increasing the SO (+=scale)
- halui.spindle.N.override.reset bit in
- pin for resetting the scale SO value (scale=1.0)
- halui.spindle.N.override.scale float in
- pin for setting the scale of counts for SO
- halui.spindle.N.override.value float out
- current FO value
Program¶
- halui.program.block-delete.is-on bit out
- status pin telling that block delete is on
- halui.program.block-delete.off bit in
- pin for requesting that block delete is off
- halui.program.block-delete.on bit in
- pin for requesting that block delete is on
- halui.program.is-idle bit out
- status pin telling that no program is running
- halui.program.is-paused bit out
- status pin telling that a program is paused
- halui.program.is-running bit out
- status pin telling that a program is running
- halui.program.optional-stop.is-on bit out
- status pin telling that the optional stop is on
- halui.program.optional-stop.off bit in
- pin requesting that the optional stop is off
- halui.program.optional-stop.on bit in
- pin requesting that the optional stop is on
- halui.program.pause bit in
- pin for pausing a program
- halui.program.resume bit in
- pin for resuming a program
- halui.program.run bit in
- pin for running a program
- halui.program.step bit in
- pin for stepping in a program
- halui.program.stop bit in
- pin for stopping a program (note: this pin does the same thing as halui.abort)
Mode¶
- halui.mode.auto bit in
- pin for requesting auto mode
- halui.mode.is-auto bit out
- pin for auto mode is on
- halui.mode.is-joint bit out
- pin showing joint by joint jog mode is on
- halui.mode.is-manual bit out
- pin for manual mode is on
- halui.mode.is-mdi bit out
- pin for MDI mode is on
- halui.mode.is-teleop bit out
- pin showing coordinated jog mode is on
- halui.mode.joint bit in
- pin for requesting joint by joint jog mode
- halui.mode.manual bit in
- pin for requesting manual mode
- halui.mode.mdi bit in
- pin for requesting MDI mode
- halui.mode.teleop bit in
- pin for requesting coordinated jog mode
MDI (optional)¶
- halui.mdi-command-XX bit in
- halui looks for INI variables named [HALUI]MDI_COMMAND, and exports a pin for each command it finds. When the pin is driven TRUE, halui runs the specified MDI command. XX is a two digit number starting at 00. If no [HALUI]MDI_COMMAND variables are set in the INI file, no halui.mdi-command-XX pins will be exported by halui.
Mist coolant¶
- halui.mist.is-on bit out
- pin for mist is on
- halui.mist.off bit in
- pin for stopping mist
- halui.mist.on bit in
- pin for starting mist
Max-velocity¶
- halui.max-velocity.count-enable bit in (default: TRUE)
- When True, modify max velocity when halui.max-velocity.counts changes.
- halui.max-velocity.counts s32 in
- When .count-enable is True, halui changes the max velocity in response to changes to this pin. It's usually connected to an MPG encoder on an operator's panel or jog pendant. When .count-enable is False, halui ignores this pin.
- halui.max-velocity.direct-value bit in
- When this pin is True, halui commands the max velocity directly to (.counts * .scale). When this pin is False, halui commands the max velocity in a relative way: change max velocity by an amount equal to (change in .counts * .scale).
- halui.max-velocity.increase bit in
- A positive edge (a False to True transition) on this pin increases the max velocity by the value of the .scale pin. (Note that halui always responds to this pin, independent of the .count-enable pin.)
- halui.max-velocity.decrease bit in
- A positive edge (a False to True transition) on this pin decreases the max velocity by the value of the .scale pin. (Note that halui always responds to this pin, independent of the .count-enable pin.)
- halui.max-velocity.scale float in
- This pin controls the scale of changes to the max velocity. Each unit change in .counts, and each positive edge on .increase and .decrease, changes the max velocity by .scale. The units of the .scale pin are machine-units per second.
- halui.max-velocity.value float out
- Current value for maximum velocity, in machine-units per second.
Machine¶
- halui.machine.units-per-mm float out
- pin for machine units-per-mm (inch:1/25.4, mm:1) according to INI file setting: [TRAJ]LINEAR_UNITS
- halui.machine.is-on bit out
- pin for machine is On/Off
- halui.machine.off bit in
- pin for setting machine Off
- halui.machine.on bit in
- pin for setting machine On
Lube¶
- halui.lube.is-on bit out
- pin for lube is on
- halui.lube.off bit in
- pin for stopping lube
- halui.lube.on bit in
- pin for starting lube
Joint (N = joint number (0 ... num_joints-1))¶
- halui.joint.N.select bit in
- pin for selecting joint N
- halui.joint.N.is-selected bit out
- status pin that joint N is selected
- halui.joint.N.has-fault bit out
- status pin telling that joint N has a fault
- halui.joint.N.home bit in
- pin for homing joint N
- halui.joint.N.is-homed bit out
- status pin telling that joint N is homed
- halui.joint.N.on-hard-max-limit bit out
- status pin telling that joint N is on the positive hardware limit
- halui.joint.N.on-hard-min-limit bit out
- status pin telling that joint N is on the negative hardware limit
- halui.joint.N.on-soft-max-limit bit out
- status pin telling that joint N is on the positive software limit
- halui.joint.N.on-soft-min-limit bit out
- status pin telling that joint N is on the negative software limit
- halui.joint.N.override-limits bit out
- status pin telling that joint N's limits are temporarily overridden
- halui.joint.N.unhome bit in
- pin for unhoming joint N
- halui.joint.selected u32 out
- selected joint number (0 ... num_joints-1)
- halui.joint.selected.has-fault bit out
- status pin selected joint is faulted
- halui.joint.selected.home bit in
- pin for homing the selected joint
- halui.joint.selected.is-homed bit out
- status pin telling that the selected joint is homed
- halui.joint.selected.on-hard-max-limit bit out
- status pin telling that the selected joint is on the positive hardware limit
- halui.joint.selected.on-hard-min-limit bit out
- status pin telling that the selected joint is on the negative hardware limit
- halui.joint.selected.on-soft-max-limit bit out
- status pin telling that the selected joint is on the positive software limit
- halui.joint.selected.on-soft-min-limit bit out
- status pin telling that the selected joint is on the negative software limit
- halui.joint.selected.override-limits bit out
- status pin telling that the selected joint's limits are temporarily overridden
- halui.joint.selected.unhome bit in
- pin for unhoming the selected joint
Joint jogging (N = joint number (0 ... num_joints-1))¶
halui.joint.jog-deadband float in pin for setting jog analog deadband (jog analog inputs smaller/slower than this (in absolute value) are ignored)
- halui.joint.jog-speed float in
- pin for setting jog speed for plus/minus jogging.
- halui.joint.N.analog float in
- pin for jogging the joint N using an float value (e.g. joystick). The value, typically set between 0.0 and ±1.0, is used as a jog-speed multiplier.
- halui.joint.N.increment float in
- pin for setting the jog increment for joint N when using increment-plus/minus
- halui.joint.N.increment-minus bit in
- a rising edge will will make joint N jog in the negative direction by the increment amount
- halui.joint.N.increment-plus bit in
- a rising edge will will make joint N jog in the positive direction by the increment amount
- halui.joint.N.minus bit in
- pin for jogging joint N in negative direction at the halui.joint.jog-speed velocity
- halui.joint.N.plus bit in
- pin for jogging joint N in positive direction at the halui.joint.jog-speed velocity
- halui.joint.selected.increment float in
- pin for setting the jog increment for the selected joint when using increment-plus/minus
- halui.joint.selected.increment-minus bit in
- a rising edge will will make the selected joint jog in the negative direction by the increment amount
- halui.joint.selected.increment-plus bit in
- a rising edge will will make the selected joint jog in the positive direction by the increment amount
- halui.joint.selected.minus bit in
- pin for jogging the selected joint in negative direction at the halui.joint.jog-speed velocity
- halui.joint.selected.plus
- pin for jogging the selected joint bit in in positive direction at the halui.joint.jog-speed velocity
Axis (L = axis letter (xyzabcuvw)¶
- halui.axis.L.select bit in
- pin for selecting axis by letter
- halui.axis.L.is-selected bit out
- status pin that axis L is selected
- halui.axis.L.pos-commanded float out float out
- Commanded axis position in machine coordinates
- halui.axis.L.pos-feedback float out float out
- Feedback axis position in machine coordinates
- halui.axis.L.pos-relative float out float out
- Commanded axis position in relative coordinates
Axis Jogging (L = axis letter (xyzabcuvw)¶
- halui.axis.jog-deadband float in
- pin for setting jog analog deadband (jog analog inputs smaller/slower than this (in absolute value) are ignored)
- halui.axis.jog-speed float in
- pin for setting jog speed for plus/minus jogging.
- halui.axis.L.analog float in
- pin for jogging the axis L using an float value (e.g. joystick). The value, typically set between 0.0 and ±1.0, is used as a jog-speed multiplier.
- halui.axis.L.increment float in
- pin for setting the jog increment for axis L when using increment-plus/minus
- halui.axis.L.increment-minus bit in
- a rising edge will will make axis L jog in the negative direction by the increment amount
- halui.axis.L.increment-plus bit in
- a rising edge will will make axis L jog in the positive direction by the increment amount
- halui.axis.L.minus bit in
- pin for jogging axis L in negative direction at the halui.axis.jog-speed velocity
- halui.axis.L.plus bit in
- pin for jogging axis L in positive direction at the halui.axis.jog-speed velocity
- halui.axis.selected u32 out
- selected axis (by index: 0:x 1:y 2:z 3:a 4:b 5:cr 6:u 7:v 8:w)
- halui.axis.selected.increment float in
- pin for setting the jog increment for the selected axis when using increment-plus/minus
- halui.axis.selected.increment-minus bit in
- a rising edge will will make the selected axis jog in the negative direction by the increment amount
- halui.axis.selected.increment-plus bit in
- a rising edge will will make the selected axis jog in the positive direction by the increment amount
- halui.axis.selected.minus bit in
- pin for jogging the selected axis in negative direction at the halui.axis.jog-speed velocity
- halui.axis.selected.plus
- pin for jogging the selected axis bit in in positive direction at the halui.axis.jog-speed velocity
Flood coolant¶
- halui.flood.is-on bit out
- pin for flood is on
- halui.flood.off bit in
- pin for stopping flood
- halui.flood.on bit in
- pin for starting flood
Feed Override¶
- halui.feed-override.count-enable bit in (default: TRUE)
- When TRUE, modify feed override when counts changes.
- halui.feed-override.counts s32 in
- counts X scale = feed override percentage
- halui.feed-override.decrease bit in
- pin for decreasing the FO (-=scale)
- halui.feed-override.direct-value bit in
- pin to enable direct value feed override input
- halui.feed-override.increase bit in
- pin for increasing the FO (+=scale)
- halui.feed-override.reset bit in
- pin for resetting the FO (scale=1.0)
- halui.feed-override.scale float in
- pin for setting the scale on changing the FO
- halui.feed-override.value float out
- current feed override value
Rapid Override¶
- halui.rapid-override.count-enable bit in (default: TRUE)
- When TRUE, modify rapid override when counts changes.
- halui.rapid-override.counts s32 in
- counts X scale = rapid override percentage
- halui.rapid-override.decrease bit in
- pin for decreasing the rapid override (-=scale)
- halui.rapid-override.direct-value bit in
- pin to enable direct value rapid override input
- halui.rapid-override.increase bit in
- pin for increasing the rapid override (+=scale)
- halui.rapid-override.reset bit in
- pin for resetting the rapid override (scale=1.0)
- halui.rapid-override.scale float in
- pin for setting the scale on changing the rapid override
- halui.rapid-override.value float out
- current rapid override value
E-stop¶
- halui.estop.activate bit in
- pin for setting E-stop (LinuxCNC internal) On
- halui.estop.is-activated bit out
- pin for displaying E-stop state (LinuxCNC internal) On/Off
- halui.estop.reset bit in
- pin for resetting E-stop (LinuxCNC internal) Off
Homing¶
- halui.home-all bit in
- pin for requesting home-all (only available when a valid homing sequence is specified)
SEE ALSO¶
BUGS¶
None known at this time.
AUTHOR¶
Written by Alex Joni, as part of the LinuxCNC project. Updated by John Thornton
REPORTING BUGS¶
Report bugs at https://github.com/LinuxCNC/linuxcnc/issues
COPYRIGHT¶
Copyright © 2006 Alex Joni.
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE.
| 2006-07-22 | LinuxCNC Documentation |